def __init__(self, node, environment):
msg.MessageObserver.__init__(self)
self.node = node
self.env = environment
self._position_lock = threading.Lock()
self._position = None
self._config_lock = threading.Lock()
self._config = None
node.addObserver(self)
node.subMessage(msg.SimPositionMessage())
node.subMessage(msg.GeminiControlMessage())
p_CuttingDeviceMessage = pp.Group(l \
+ p_int \
+ r).streamline()
p_CuttingDeviceMessage.setParseAction(lambda x: messaging.CuttingDeviceMessage(*x[0]))
p_RedHerringBatteryStatusMessage = pp.Group(l \
+ p_int \
+ r).streamline()
p_RedHerringBatteryStatusMessage.setParseAction(lambda x: messaging.RedHerringBatteryStatusMessage(*x[0]))
p_SimPositionMessage = pp.Group(l \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_floatYPR + c \
+ p_floatXYZ \
+ r).streamline()
p_SimPositionMessage.setParseAction(lambda x: messaging.SimPositionMessage(*x[0]))
# Parse any Message
def parseMessage(s):
msgstart = s.find('(')
msgid = int(s[:msgstart])
if msgid == 500:
return p_MembershipChangedMessage.parseString(s[msgstart:])[0]
elif msgid == 0:
return p_DebugMessage.parseString(s[msgstart:])[0]
elif msgid == 1:
return p_DebugLevelMessage.parseString(s[msgstart:])[0]
elif msgid == 2:
return p_MotorMessage.parseString(s[msgstart:])[0]
elif msgid == 60:
p_CuttingDeviceMessage.setParseAction(
lambda x: messaging.CuttingDeviceMessage(*x[0]))
p_RedHerringBatteryStatusMessage = pp.Group(l \
+ p_int \
+ r).streamline()
p_RedHerringBatteryStatusMessage.setParseAction(
lambda x: messaging.RedHerringBatteryStatusMessage(*x[0]))
p_SimPositionMessage = pp.Group(l \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_floatYPR + c \
+ p_floatXYZ \
+ r).streamline()
p_SimPositionMessage.setParseAction(
lambda x: messaging.SimPositionMessage(*x[0]))
# Parse any Message
def parseMessage(s):
msgstart = s.find('(')
msgid = int(s[:msgstart])
if msgid == 500:
return p_MembershipChangedMessage.parseString(s[msgstart:])[0]
elif msgid == 0:
return p_DebugMessage.parseString(s[msgstart:])[0]
elif msgid == 1:
return p_DebugLevelMessage.parseString(s[msgstart:])[0]
elif msgid == 2:
return p_MotorMessage.parseString(s[msgstart:])[0]
elif msgid == 60: